Please use this identifier to cite or link to this item: https://doi.org/10.1080/002071700219740
Title: Synthesized sliding mode control of a single-link flexible robot
Authors: Xu, J.-X. 
Cao, W.-J.
Issue Date: 15-Feb-2000
Source: Xu, J.-X., Cao, W.-J. (2000-02-15). Synthesized sliding mode control of a single-link flexible robot. International Journal of Control 73 (3) : 197-209. ScholarBank@NUS Repository. https://doi.org/10.1080/002071700219740
Abstract: This paper proposes a synthesized sliding mode controller using frequency shaping and terminal attractor methods for single-link r-mode flexible robotic manipulators. The frequency shaping technique is used to suppress the inherent resonance modes of the flexible manipulator, while terminal attractor is used to expedite the convergence of the sliding mode near the equilibrium and to reduce steady state error. The asymptotical stability of the synthesized sliding mode is proven by using Popov'S criterion. Numerical simulations confirm the effectiveness and robustness of the proposed sliding mode controller.
Source Title: International Journal of Control
URI: http://scholarbank.nus.edu.sg/handle/10635/62842
ISSN: 00207179
DOI: 10.1080/002071700219740
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

23
checked on Feb 15, 2018

WEB OF SCIENCETM
Citations

22
checked on Feb 5, 2018

Page view(s)

32
checked on Feb 20, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.